feat: Add rotation for gs

app.py

@@ -220,6 +220,12 @@ def reconstruct(video_path, conf_thresh, kf_every,
     print("Performing global registration...")
     transformed_pcds, _, _ = improved_multiway_registration(pcds, voxel_size=0.01)
 
+    # Apply rotation
+    rot = np.eye(4)
+    rot[:3, :3] = Rotation.from_euler('y', np.deg2rad(180)).as_matrix()
+    transform = np.linalg.inv(OPENGL @ rot)
+    transformed_pcds.transform(transform)
+
     # Create coarse result
     refined_output_path = tempfile.mktemp(suffix='.ply')
     point2gs(refined_output_path, transformed_pcds)